Second-Order-Optimal Minimum-Energy Filters on Lie Groups

Saccon, A; Trumpf, J; Mahony, R; Aguiar, AP IEEE Transactions on Automatic Control ID Authenticus: P-00M-57F DOI: 10.1109/tac.2015.2506662 Abstract: Systems on Lie groups naturally appear as models for physical systems with full symmetry. We consider the state estimation problem for such systems where both input and output measurements are corrupted by unknown disturbances. We provide an explicit formula […]

On convergence and Performance Certification of a Continuous-time Economic Model Predictive Control Scheme with Time-varying Performance Index

Alessandretti, A; Aguiar, AP; Jones, CN AUTOMATICA ID Authenticus: P-00K-93B DOI: 10.1016/j.automatica.2016.01.020 Abstract: This paper addresses the design of convergence and performance certified sampled-data model predictive control (MPC) laws with a time-dependent economic performance index. More precisely, using a dissipativity property of the system, we provide a set of sufficient conditions that guarantee convergence of the closed-loop state […]

On the Design of Discrete-Time Economic Model Predictive Controllers

Alessandretti, A; Aguiar, AP; Jones, CN 2016 IEEE 55th Conference on Decision and Control, CDC 201 ID Authenticus: P-00M-DYJ DOI: 10.1109/cdc.2016.7798749 Abstract: This paper addresses the design of a suitable terminal set and terminal cost for discrete-time Economic Model Predictive Control schemes with convergence guarantees. Three design methods are proposed. The first two approaches rely on the existence […]

Design of a Distributed Quantized Luenberger Filter for Bounded Noise

Rego, FFC; Pu, Y; Alessandretti, A; Aguiar, AP; Pascoal, AM; Jones, CN 2016 AMERICAN CONTROL CONFERENCE (ACC)  ID Authenticus: P-00M-HJC DOI: 10.1109/acc.2016.7526675 Abstract: This paper addresses the problem of distributed state estimation for linear systems with process and measurement noise, in the case of limited communication data rate, where the data exchanged between agents is quantized. We propose […]

The Robust Minimal Controllability Problem

Pequito, S; Ramos, G; Kar, S; Aguiar, AP; Ramos, J AUTOMATICA ID Authenticus: P-00M-TXZ DOI: 10.1016/j.automatica.2017.04.053 Abstract: In this paper, we address the robust minimal controllability problem, where the goal is, given a linear time invariant system, to determine a minimal subset of state variables to be actuated to ensure controllability under additional constraints. We study the problem […]

Input-to-State-Stability Approach to Economic Optimization in Model Predictive Control

Alessandretti, A; Aguiar, AP; Jones, CN  IEEE Transactions on Automatic Control ID Authenticus: P-00N-697 DOI: 10.1109/tac.2017.2700388 Abstract: This paper presents a model predictive control (MPC) scheme where a combination of a stabilizing stage cost and an economic stage cost is employed to allow the minimization of an economic performance index while still guaranteeing convergence toward a desired steady […]

Composability and Controllability of Structural Linear Time-invariant Systems: Distributed Verification

Carvalho, JF; Pequito, S; Aguiar, AP; Kar, S; Johansson, KH AUTOMATICA ID Authenticus: P-00M-E6Z DOI: 10.1016/j.automatica.2016.12.016 Abstract: Motivated by the development and deployment of large-scale dynamical systems, often comprised of geographically distributed smaller subsystems, we address the problem of verifying their controllability in a distributed manner. Specifically, we study controllability in the structural system theoretic sense, structural controllability, […]

A Design Method for Distributed Luenberger Observers

Rego, FFC; Aguiar, AP; Pascoal, AM; Jones, CN  2017 IEEE 56TH ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC) ID Authenticus: P-00N-MR9 DOI: 10.1109/cdc.2017.8264153 Abstract: The paper addresses the problem of designing distributed observers for discrete linear time-invariant (LTI) systems with distributed sensor nodes subjected to bounded measurement noise. A solution is proposed in terms of a distributed LTI […]

Constrained optimal motion planning for autonomous vehicles using PRONTO

Aguiar, AP; Bayer, FA ; Hauser, J ; Häusler, AJ ; Notarstefano, G; Pascoal, AM ; Rucco, A  Workshop on Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles, 2017 D Authenticus: P-00N-9RF DOI: 10.1007/978-3-319-55372-6_10 Abstract: This chapter provides an overview of the authors¿ efforts in vehicle trajectory exploration and motion planning based on […]

Optimal Rendezvous Trajectory for Unmanned Aerial-Ground Vehicles

Alessandro Rucco;; António Pedro Aguiar; Sujit Baliyarasimhuni; João Borges de Sousa, Fernando Lobo Pereira. IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS ID Authenticus: P-00N-9R0 DOI: 10.1109/taes.2017.2767958 Abstract: Fixed-wing unmanned aerial vehicles (UAVs) can be an essential tool for low-cost aerial surveillance and mapping applications in remote regions. There is, however, a key limitation, which is the fact that […]